CAssimpModel.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

// This file contains portions of code from Assimp's example:
// "Sample_SimpleOpenGL.c"

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CAssimpModel.h>

#if MRPT_HAS_ASSIMP
#if defined(MRPT_ASSIMP_VERSION_MAJOR) && MRPT_ASSIMP_VERSION_MAJOR < 3
#include <assimp.h>
#include <aiScene.h>
#include <aiPostProcess.h>
#else
#include <assimp/cimport.h>
#include <assimp/DefaultLogger.hpp>
#include <assimp/LogStream.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
#endif
#endif

#include "opengl_internals.h"
#include <mrpt/system/filesystem.h>

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CAssimpModel, CRenderizableDisplayList, mrpt::opengl)

#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
void recursive_render(
        const aiScene* sc, const aiNode* nd,
        const std::vector<unsigned int>& textureIds,
        const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap);
void apply_material(
        const aiMaterial* mtl, const std::vector<unsigned int>& textureIds,
        const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap);
void set_float4(float f[4], float a, float b, float c, float d);
void color4_to_float4(const aiColor4D* c, float f[4]);
void get_bounding_box(const aiScene* sc, aiVector3D* min, aiVector3D* max);
void get_bounding_box_for_node(
        const aiScene* sc, const aiNode* nd, aiVector3D* min, aiVector3D* max,
        aiMatrix4x4* trafo);
void load_textures(
        const aiScene* scene, std::vector<unsigned int>& textureIds,
        std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap,
        const std::string& modelPath);
#endif  // MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP

/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CAssimpModel::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
        MRPT_START

        if (!m_assimp_scene->scene) return;  // No scene

        aiScene* scene = (aiScene*)m_assimp_scene->scene;

        glEnable(GL_TEXTURE_2D);
        glDisable(GL_CULL_FACE);
        // glFrontFace(GL_CW);

        glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
        glEnable(GL_NORMALIZE);

        if (!m_textures_loaded)
        {
                load_textures(scene, m_textureIds, m_textureIdMap, m_modelPath);
                m_textures_loaded = true;
        }

        recursive_render(scene, scene->mRootNode, m_textureIds, m_textureIdMap);

        glDisable(GL_NORMALIZE);
        glDisable(GL_TEXTURE_2D);

        MRPT_END
#endif
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CAssimpModel::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                writeToStreamRender(out);

                const bool empty = m_assimp_scene->scene != nullptr;
                out << empty;

                if (!empty)
                {
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
                        // aiScene *scene = (aiScene *) m_assimp_scene->scene;
                        THROW_EXCEPTION("MRPT can't serialize Assimp objects yet!")
#else
                        THROW_EXCEPTION("MRPT compiled without OpenGL and/or Assimp")
#endif
                }
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CAssimpModel::readFromStream(mrpt::utils::CStream& in, int version)
{
        THROW_EXCEPTION("MRPT can't serialize Assimp objects yet!")

        switch (version)
        {
                case 0:
                {
                        readFromStreamRender(in);

                        clear();
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}

CAssimpModel::CAssimpModel()
        : m_bbox_min(0, 0, 0), m_bbox_max(0, 0, 0), m_textures_loaded(false)
{
        m_assimp_scene = mrpt::make_aligned_shared<TImplAssimp>();
}

CAssimpModel::~CAssimpModel() { clear(); }
/*---------------------------------------------------------------
                                                        clear
  ---------------------------------------------------------------*/
void CAssimpModel::clear()
{
        CRenderizableDisplayList::notifyChange();
        m_assimp_scene = mrpt::make_aligned_shared<TImplAssimp>();
        m_modelPath.clear();
        m_textures_loaded = false;

#if MRPT_HAS_OPENGL_GLUT
        if (!m_textureIds.empty())
        {
                glDeleteTextures(m_textureIds.size(), &m_textureIds[0]);
                m_textureIds.clear();
        }
        m_textureIdMap.clear();
#endif
}

void CAssimpModel::loadScene(const std::string& filepath)
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
        clear();
        CRenderizableDisplayList::notifyChange();

        // we are taking one of the postprocessing presets to avoid
        // spelling out 20+ single postprocessing flags here.
        m_assimp_scene->scene = (void*)aiImportFile(
                filepath.c_str(), aiProcessPreset_TargetRealtime_MaxQuality);
        m_modelPath = filepath;

        if (m_assimp_scene->scene)
        {
                aiVector3D scene_min, scene_max;
                aiScene* scene = (aiScene*)m_assimp_scene->scene;
                get_bounding_box(scene, &scene_min, &scene_max);
                m_bbox_min.x = scene_min.x;
                m_bbox_min.y = scene_min.y;
                m_bbox_min.z = scene_min.z;
                m_bbox_max.x = scene_max.x;
                m_bbox_max.y = scene_max.y;
                m_bbox_max.z = scene_max.z;
        }

#else
        THROW_EXCEPTION("MRPT compiled without OpenGL and/or Assimp")
#endif
}

void CAssimpModel::evaluateAnimation(double time_anim)
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
// if (m_assimp_scene->file)
//{
//      CRenderizableDisplayList::notifyChange();
//      lib3ds_file_eval( (Lib3dsFile*) m_assimp_scene->file, time_anim );
//}
#endif
}

void CAssimpModel::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min = m_bbox_min;
        bb_max = m_bbox_max;

        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}

CAssimpModel::TImplAssimp::TImplAssimp() : scene(nullptr) {}
CAssimpModel::TImplAssimp::~TImplAssimp()
{
#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP
        if (scene)
        {
                // cleanup - calling 'aiReleaseImport' is important, as the library
                // keeps internal resources until the scene is freed again. Not
                // doing so can cause severe resource leaking.
                aiReleaseImport((aiScene*)scene);
                scene = nullptr;
        }
#endif
}

bool CAssimpModel::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
        // TODO
        return false;
}

#if MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP

// ----------------------------------------------------------------------------
void get_bounding_box_for_node(
        const aiScene* scene, const aiNode* nd, aiVector3D* min, aiVector3D* max,
        aiMatrix4x4* trafo)
{
        aiMatrix4x4 prev;
        unsigned int n = 0, t;

        prev = *trafo;
        aiMultiplyMatrix4(trafo, &nd->mTransformation);

        for (; n < nd->mNumMeshes; ++n)
        {
                const aiMesh* mesh = scene->mMeshes[nd->mMeshes[n]];
                for (t = 0; t < mesh->mNumVertices; ++t)
                {
                        aiVector3D tmp = mesh->mVertices[t];
                        aiTransformVecByMatrix4(&tmp, trafo);

                        min->x = std::min(min->x, tmp.x);
                        min->y = std::min(min->y, tmp.y);
                        min->z = std::min(min->z, tmp.z);

                        max->x = std::max(max->x, tmp.x);
                        max->y = std::max(max->y, tmp.y);
                        max->z = std::max(max->z, tmp.z);
                }
        }

        for (n = 0; n < nd->mNumChildren; ++n)
        {
                get_bounding_box_for_node(scene, nd->mChildren[n], min, max, trafo);
        }
        *trafo = prev;
}

// ----------------------------------------------------------------------------
void get_bounding_box(const aiScene* scene, aiVector3D* min, aiVector3D* max)
{
        aiMatrix4x4 trafo;
        aiIdentityMatrix4(&trafo);

        min->x = min->y = min->z = 1e10f;
        max->x = max->y = max->z = -1e10f;
        get_bounding_box_for_node(scene, scene->mRootNode, min, max, &trafo);
}

// ----------------------------------------------------------------------------
void color4_to_float4(const aiColor4D* c, float f[4])
{
        f[0] = c->r;
        f[1] = c->g;
        f[2] = c->b;
        f[3] = c->a;
}

// ----------------------------------------------------------------------------
void set_float4(float f[4], float a, float b, float c, float d)
{
        f[0] = a;
        f[1] = b;
        f[2] = c;
        f[3] = d;
}

// ----------------------------------------------------------------------------
void apply_material(
        const aiMaterial* mtl, const std::vector<unsigned int>& textureIds,
        const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap)
{
        float c[4];

        GLenum fill_mode;
        int ret1, ret2;
        aiColor4D diffuse;
        aiColor4D specular;
        aiColor4D ambient;
        aiColor4D emission;
        float shininess, strength;
        int two_sided;
        int wireframe;
        unsigned int max;

        int texIndex = 0;
        aiString texPath;  // contains filename of texture

        if (AI_SUCCESS ==
                mtl->GetTexture(aiTextureType_DIFFUSE, texIndex, &texPath))
        {
                // bind texture
                std::map<std::string, CAssimpModel::TInfoPerTexture>::const_iterator
                        it = textureIdMap.find(texPath.data);
                if (it == textureIdMap.end())
                {
                        std::cerr << "[CAssimpModel] Error: using un-loaded texture '"
                                          << texPath.data << "'\n";
                }
                else
                {
                        unsigned int texId = textureIds[it->second.id_idx];
                        glBindTexture(GL_TEXTURE_2D, texId);
                }
        }

        set_float4(c, 0.8f, 0.8f, 0.8f, 1.0f);
        if (AI_SUCCESS ==
                aiGetMaterialColor(mtl, AI_MATKEY_COLOR_DIFFUSE, &diffuse))
                color4_to_float4(&diffuse, c);
        glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, c);

        set_float4(c, 0.0f, 0.0f, 0.0f, 1.0f);
        if (AI_SUCCESS ==
                aiGetMaterialColor(mtl, AI_MATKEY_COLOR_SPECULAR, &specular))
                color4_to_float4(&specular, c);
        glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, c);

        set_float4(c, 0.2f, 0.2f, 0.2f, 1.0f);
        if (AI_SUCCESS ==
                aiGetMaterialColor(mtl, AI_MATKEY_COLOR_AMBIENT, &ambient))
                color4_to_float4(&ambient, c);
        glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, c);

        set_float4(c, 0.0f, 0.0f, 0.0f, 1.0f);
        if (AI_SUCCESS ==
                aiGetMaterialColor(mtl, AI_MATKEY_COLOR_EMISSIVE, &emission))
                color4_to_float4(&emission, c);
        glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, c);

        max = 1;
        ret1 = aiGetMaterialFloatArray(mtl, AI_MATKEY_SHININESS, &shininess, &max);
        if (ret1 == AI_SUCCESS)
        {
                max = 1;
                ret2 = aiGetMaterialFloatArray(
                        mtl, AI_MATKEY_SHININESS_STRENGTH, &strength, &max);
                if (ret2 == AI_SUCCESS)
                        glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, shininess * strength);
                else
                        glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, shininess);
        }
        else
        {
                glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 0.0f);
                set_float4(c, 0.0f, 0.0f, 0.0f, 0.0f);
                glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, c);
        }

        max = 1;
        if (AI_SUCCESS == aiGetMaterialIntegerArray(
                                                  mtl, AI_MATKEY_ENABLE_WIREFRAME, &wireframe, &max))
                fill_mode = wireframe ? GL_LINE : GL_FILL;
        else
                fill_mode = GL_FILL;
        glPolygonMode(GL_FRONT_AND_BACK, fill_mode);

        max = 1;
        if ((AI_SUCCESS == aiGetMaterialIntegerArray(
                                                   mtl, AI_MATKEY_TWOSIDED, &two_sided, &max)) &&
                two_sided)
                glDisable(GL_CULL_FACE);
        else
                glEnable(GL_CULL_FACE);
}

// Can't send color down as a pointer to aiColor4D because AI colors are ABGR.
void Color4f(const aiColor4D* color)
{
        glColor4f(color->r, color->g, color->b, color->a);
}

// ----------------------------------------------------------------------------
void recursive_render(
        const aiScene* sc, const aiNode* nd,
        const std::vector<unsigned int>& textureIds,
        const std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap)
{
        unsigned int i;
        unsigned int n = 0, t;
        aiMatrix4x4 m = nd->mTransformation;

        // update transform
        m.Transpose();
        glPushMatrix();
        glMultMatrixf((float*)&m);

        // draw all meshes assigned to this node
        for (; n < nd->mNumMeshes; ++n)
        {
                const struct aiMesh* mesh = sc->mMeshes[nd->mMeshes[n]];

                apply_material(
                        sc->mMaterials[mesh->mMaterialIndex], textureIds, textureIdMap);

                if (mesh->mNormals == nullptr)
                        glDisable(GL_LIGHTING);
                else
                        glEnable(GL_LIGHTING);

                if (mesh->mColors[0] != nullptr)
                        glEnable(GL_COLOR_MATERIAL);
                else
                        glDisable(GL_COLOR_MATERIAL);

                for (t = 0; t < mesh->mNumFaces; ++t)
                {
                        const struct aiFace* face = &mesh->mFaces[t];
                        GLenum face_mode;

                        switch (face->mNumIndices)
                        {
                                case 1:
                                        face_mode = GL_POINTS;
                                        break;
                                case 2:
                                        face_mode = GL_LINES;
                                        break;
                                case 3:
                                        face_mode = GL_TRIANGLES;
                                        break;
                                default:
                                        face_mode = GL_POLYGON;
                                        break;
                        }

                        glBegin(face_mode);

                        for (i = 0; i < face->mNumIndices;
                                 i++)  // go through all vertices in face
                        {
                                int vertexIndex =
                                        face->mIndices[i];  // get group index for current index
                                if (mesh->mColors[0] != nullptr)
                                        Color4f(&mesh->mColors[0][vertexIndex]);

                                if (mesh->HasTextureCoords(
                                                0))  // HasTextureCoords(texture_coordinates_set)
                                {
                                        glTexCoord2f(
                                                mesh->mTextureCoords[0][vertexIndex].x,
                                                1 -
                                                        mesh->mTextureCoords[0][vertexIndex]
                                                                .y);  // mTextureCoords[channel][vertex]
                                }

                                if (mesh->mNormals)
                                {
                                        glNormal3fv(&mesh->mNormals[vertexIndex].x);
                                }
                                glVertex3fv(&mesh->mVertices[vertexIndex].x);
                        }
                        glEnd();
                }
        }

        // draw all children
        for (n = 0; n < nd->mNumChildren; ++n)
                recursive_render(sc, nd->mChildren[n], textureIds, textureIdMap);

        glPopMatrix();
}

// http://stackoverflow.com/questions/3418231/replace-part-of-a-string-with-another-string
void replaceAll(
        std::string& str, const std::string& from, const std::string& to)
{
        if (from.empty()) return;
        size_t start_pos = 0;
        while ((start_pos = str.find(from, start_pos)) != std::string::npos)
        {
                str.replace(start_pos, from.length(), to);
                start_pos += to.length();  // In case 'to' contains 'from', like
                // replacing 'x' with 'yx'
        }
}

void load_textures(
        const aiScene* scene, std::vector<unsigned int>& textureIds,
        std::map<std::string, CAssimpModel::TInfoPerTexture>& textureIdMap,
        const std::string& modelPath)
{
        if (scene->HasTextures())
                THROW_EXCEPTION(
                        "Support for meshes with embedded textures is not implemented")

        textureIdMap.clear();

        /* getTexture Filenames and no. of Textures */
        for (unsigned int m = 0; m < scene->mNumMaterials; m++)
        {
                int texIndex = 0;
                for (;;)
                {
                        aiString path;  // filename
                        aiReturn texFound = scene->mMaterials[m]->GetTexture(
                                aiTextureType_DIFFUSE, texIndex, &path);
                        if (texFound == AI_SUCCESS)
                        {
                                CAssimpModel::TInfoPerTexture& ipt = textureIdMap[path.data];
                                ipt.id_idx = std::string::npos;  // fill map with textures,
                                // pointers still nullptr yet
                                texIndex++;
                        }
                        else
                                break;
                }
        }

        int numTextures = textureIdMap.size();

        /* create and fill array with GL texture ids */
        textureIds.resize(numTextures);
        if (numTextures)
        {
                glGenTextures(
                        numTextures, &textureIds[0]); /* Texture name generation */
        }

        /* get iterator */
        std::map<std::string, CAssimpModel::TInfoPerTexture>::iterator itr =
                textureIdMap.begin();

        std::string basepath = mrpt::system::filePathSeparatorsToNative(
                mrpt::system::extractFileDirectory(modelPath));
        for (int i = 0; i < numTextures; i++)
        {
                // save IL image ID
                std::string filename = itr->first;  // get filename
                CAssimpModel::TInfoPerTexture& ipt = itr->second;
                ipt.id_idx = i;  // save texture id for filename in map
                ++itr;  // next texture

                const std::string fileloc =
                        mrpt::system::filePathSeparatorsToNative(basepath + filename);

                ipt.img_rgb = mrpt::make_aligned_shared<mrpt::utils::CImage>();
                ipt.img_alpha = mrpt::make_aligned_shared<mrpt::utils::CImage>();
                mrpt::utils::CImage* img_rgb = ipt.img_rgb.get();
                mrpt::utils::CImage* img_a = ipt.img_alpha.get();

                // Load images:
                // TGA is handled specially since it's not supported by OpenCV:
                bool load_ok;
                if (mrpt::system::lowerCase(
                                mrpt::system::extractFileExtension(fileloc)) == string("tga"))
                {
                        load_ok = CImage::loadTGA(fileloc, *img_rgb, *img_a);
                }
                else
                {
                        load_ok = img_rgb->loadFromFile(fileloc);
                }

                if (load_ok)
                {
                        // success = ilConvertImage(IL_RGB, IL_UNSIGNED_BYTE); /* Convert
                        // every colour component into unsigned byte. If your image contains
                        // alpha channel you can replace IL_RGB with IL_RGBA */
                        glBindTexture(
                                GL_TEXTURE_2D, textureIds[i]); /* Binding of texture name */
                        // redefine standard texture values
                        glTexParameteri(
                                GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,
                                GL_LINEAR); /* We will use linear
interpolation for magnification filter */
                        glTexParameteri(
                                GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
                                GL_LINEAR); /* We will use linear
interpolation for minifying filter */
                        // glTexImage2D(
                        //      GL_TEXTURE_2D,
                        //      0,
                        //      8 /*ilGetInteger(IL_IMAGE_BPP)*/,
                        //      /* ilGetInteger(IL_IMAGE_WIDTH)*/,
                        //      /*ilGetInteger(IL_IMAGE_HEIGHT)*/,
                        //      0,
                        //      /*ilGetInteger(IL_IMAGE_FORMAT)*/,
                        //      GL_UNSIGNED_BYTE,
                        //      ilGetData()); /* Texture specification */

                        const int width = img_rgb->getWidth();
                        const int height = img_rgb->getHeight();

                        // Prepare image data types:
                        const GLenum img_type = GL_UNSIGNED_BYTE;
                        const int nBytesPerPixel = img_rgb->isColor() ? 3 : 1;
                        const bool is_RGB_order =
                                (!::strcmp(
                                        img_rgb->getChannelsOrder(),
                                        "RGB"));  // Reverse RGB <-> BGR order?
                        const GLenum img_format = nBytesPerPixel == 3
                                                                                  ? (is_RGB_order ? GL_RGB : GL_BGR)
                                                                                  : GL_LUMINANCE;

                        // Send image data to OpenGL:
                        glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
                        glPixelStorei(
                                GL_UNPACK_ROW_LENGTH, img_rgb->getRowStride() / nBytesPerPixel);
                        glTexImage2D(
                                GL_TEXTURE_2D, 0 /*level*/, 3 /* RGB components */, width,
                                height, 0 /*border*/, img_format, img_type,
                                img_rgb->get_unsafe(0, 0));
                        glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset
                }
                else
                {
                        /* Error occured */
                        const std::string sError = mrpt::format(
                                "[CAssimpModel] Couldn't load texture image: '%s'",
                                fileloc.c_str());
                        cout << sError << endl;
#ifdef _MSC_VER
                        OutputDebugStringA(&sError[0]);
#endif
                }
        }
}

#endif  // MRPT_HAS_OPENGL_GLUT && MRPT_HAS_ASSIMP